GitLab

* [Enhancement] Update PipelinePlanner to support async copy configuration

- Modified the `Substitute` method in `PipelinePlanner` to accept a `use_async_copy` parameter, allowing for more flexible pipeline planning based on async copy requirements.
- Updated the constructor of `PipelinePlanner` to initialize the `use_async_copy_` member variable.
- Adjusted the logic in the pipeline planning process to conditionally apply async copy annotations based on the new parameter.
- Commented out the `LoopVectorizeDynamic` call in `LowerAndLegalize` to prevent unintended modifications during the legalizing phase.

* Refactor PipelinePlanning function for improved readability

- Adjusted the formatting of the `use_async_copy` variable assignment in the `PipelinePlanning` function to enhance code clarity and maintainability.